智能移动机器人局部避碰算法研究Researchoflocalcollision.pdfVIP

智能移动机器人局部避碰算法研究 刘玉晓，陈帝伊，马孝义 (西北农林科技大学 水利与建筑工程学院电气系，陕西 杨凌，712100) 摘 要: 智能移动机器人的局部避碰问题是路径规划中的研究重点。本文针对运动中的局部碰撞问题，采用人工势场法， 利用红外传感器获得的距离信息和光电编码器获得的位置信息，对机器人进行实时定位，通过计算的合力对机器人进行实时 位姿调整，在遵守设定的遍历规则以及碰撞预测规则的前提下，实现了智能移动机器人在部分未知环境中通过传感器探测进 行实时避碰路径规划。实验证明该算法得到的路径光滑且远离障碍物，在局部避碰问题中有很好的可行性和有效性。 关键词: 智能移动机器人；路径规划；局部避碰；人工势场 中图法分类号: TP242 文献标识码: A Research of local collision avoidance algorithm of intelligent mobile robot LIU Yu-xiao, CHEN Di-yi, MA Xiao-yi (Electric Department of College of Water Resources and Architectural Engineering, NorthWest AF University, Shaanxi Yangling, 712100 Abstract: Local collision avoidance of the intelligent mobile robot is the focal point of the research in local path planning. In this paper, aiming at the local collision problems in the movement, adopting artificial potential field method, using infrared sensors to obtain the distance information and photoelectric encoder to obtain the location information, based on the force by calculating, real-time location of the robot and adjustment of the robot pose were realized. Under the prerequisite of complying with the ergodic rules and collision prediction rules, collision avoidance path planning in some unknown environment through the real-time detection was realized. Experiments show that this algorithm can smooth the path and be away from the barriers, above all the result proves the feasible and efficient of this method in local collision avoidance. Key words: intelligent mobile robot; path planning; local collision avoidance; artificial potential field 0 引言 2 人工势场函数建立 路径规划是自主移动机器人导航的基本环节之一，是按